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Planar Spline Trajectory Following for an Autonomous Helicopter

Journal of Advanced Computational Intelligence and Intelligent Informatics 2004年第3期8卷 237-242页

作者： Harbick, Kale Montgomery, James F. Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los AngelesCA90089-0781 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109-8099 United States

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable. © Fuji Technology Press Ltd. Creative Commons CC BY-ND: This is an Open Access article distributed under the terms of the Creative Commons Attribution-NoDerivatives 4.0 International License (http://***/licenses/by-nd/4.0/).

关键词： Unmanned aerial vehicles (UAV)

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Formal verification of distributed dynamic thermal management 13

Formal verification of distributed dynamic thermal managemen...

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IEEE International Conference on computer-Aided Design

作者： Muhammad Ismail Osman Hasan Thomas Ebi Muhammad Shafique Jörg Henkel School of Electrical Engineering and Computer Science National University of Sciences and Technology Islamabad Pakistan Chair for Embedded Systems (CES) Karlsruhe Institute of Technology (KIT) Germany

ISBN: (纸本)9781479910694

Simulation is the state-of-the-art analysis technique for distributed thermal management schemes. Due to the numerous parameters involved and the distributed nature of these schemes, such non-exhaustive verification may fail to catch functional bugs in the algorithm or may report misleading performance characteristics. To overcome these limitations, we propose a methodology to perform formal verification of distributed dynamic thermal management for many-core systems. The proposed methodology is based on the SPIN model checker and the Lamport timestamps algorithm. Our methodology allows specification and verification of both functional and timing properties in a distributed many-core system. In order to illustrate the applicability and benefits of our methodology, we perform a case study on a state-of-the-art agent-based distributed thermal management scheme.

关键词： Timing Model checking System recovery Computational modeling Thermal management Analytical models Automata

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Introducing support for embedded and real-time devices into existing hierarchical component system: Lessons learned

Introducing support for embedded and real-time devices into ...

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9th ACIS International Conference on Software Engineering Research, Management and Applications, SERA 2011

作者： Pop, Tomáš Keznikl, Jaroslav Hošek, Petr Malohlava, Michal Bures, Tomáš Hnětynka, Petr Charles University Faculty of Mathematics and Physics Department of Distributed and Dependable Systems Malostranske namesti 25 Prague 1 118 00 Czech Republic Institute of Computer Science Academy of Sciences of the Czech Republic Pod Vodarenskou vezi 2 Prague 8 182 07 Czech Republic Imperial College London United Kingdom

ISBN: (纸本)9780769544908

As embedded and real-time systems became an inherent part of many electronic appliances of everyday use, the demand for their development has grown enormously. Increasing complexity of these systems leads to demands of tools and techniques addressing their efficient and short time-to-market development. One of the possible ways to tackle the problem is a reuse of tools, methodologies and know how already established and successfully adopted in other application domains. Such transfer cannot be done inherently without appropriate modification and methodical adaptation based on an analysis of domain requirements. The paper analyzes necessary modifications and extensions of a general purpose component-based technology to enable development of embedded real-time systems. In addition, we present our own experience obtained while tailoring advanced component framework SOFA 2 to support development of embedded and real-time systems. © 2011 IEEE.

关键词： embedded systems

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Improved adaptivity and robustness in decentralised multi-camera networks

Improved adaptivity and robustness in decentralised multi-ca...

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ACM/IEEE International Conference on distributed Smart Cameras, ICDSC

作者： Lukas Esterle Bernhard Rinner Peter R. Lewis Xin Yao Lakeside Laboratories Institute of Networked and Embedded Systems Alpen-Adria Universität Klagenfurt Klagenfurt Austria CERCIA School of Computer Science University of Birmingham Birmingham UK

In this paper we present increased adaptivity and robustness in distributed object tracking by multi-camera networks using a socio-economic mechanism for learning the vision graph. To build-up the vision graph autonomously within a distributed smart-camera network, we use an ant-colony inspired mechanism, which exchanges responsibility for tracking objects using Vickrey auctions. Employing the learnt vision graph allows the system to optimise its communication continuously. Since distributed smart camera networks are prone to uncertainties in individual cameras, such as failures or changes in extrinsic parameters, the vision graph should be sufficiently robust and adaptable during runtime to enable seamless tracking and optimised communication. To better reflect real smart-camera platforms and networks, we consider that communication and handover are not instantaneous, and that cameras may be added, removed or their properties changed during runtime. Using our dynamic socio-economic approach, the network is able to continue tracking objects well, despite all these uncertainties, and in some cases even with improved performance. This demonstrates the adaptivity and robustness of our approach.

关键词： Cameras Robustness Handover Runtime Network topology Topology

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embedded intelligent capability of a modular robotic system

Embedded intelligent capability of a modular robotic system

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IEEE International Conference on Robotics and Biomimetics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Control and Telematics Systems Laboratory Universidad Autonoma de Madrid Spain College of Information Engineering Zhejiang University of Technology Hangzhou China

The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot cube-M with one degree of freedom, an improved version of the Y1 modular robot, is presented. After that, the discussion focuses on the realization of a distributed hardware and control. Each module has embedded intelligent capabilities with an independent onboard controller to enable the realization of completely modular design. In the end, a snake-like robot prototype is built to confirm the feasibility of our design principle.

关键词： Intelligent robots Orbital robotics Prototypes Pulse width modulation Educational robots Joining processes Mobile robots Leg Arm Legged locomotion

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MovCloud: A Cloud-enabled Framework to Analyse Movement Behaviors

MovCloud: A Cloud-enabled Framework to Analyse Movement Beha...

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IEEE International Conference on Cloud Computing Technology and science

作者： Shreya Ghosh Soumya K Ghosh Rajkumar Buyya Department of Computer Science and Engineering Indian Institute of Technology Kharagpur India Indian Institute of Technology Kharagpur Kharagpur India Cloud Computing and Distributed Systems (CLOUDS) Lab The University of Melbourne Australia

Understanding human interests and intents from movement data are fundamental challenges for any location-based service. With the pervasiveness of sensor embedded smartphones and wireless networks and communication, the availability of spatio-temporal mobility trace (timestamped location information) is increasingly growing. Analysing these huge amount of mobility data is another major concern. This paper proposes a cloud-based framework named MovCloud to efficiently manage and analyse mobility data. Specifically, the framework presents a hierarchical indexing schema to store trajectory data in different spatio-temporal resolution, clusters the trajectories based on semantic movement behaviour instead of only raw latitude, longitude point and resolves mobility queries using MapReduce paradigm. MovCloud is implemented over Google Cloud Platform (GCP) and an extensive set of experiments on real-life data yield the effectiveness of the proposed framework. MovCloud has achieved ～ 28% better clustering accuracy and also executed three times faster than the baseline methods.

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Malleable NoC: Dark silicon inspired adaptable Network-on-Chip 15

Malleable NoC: Dark silicon inspired adaptable Network-on-Ch...

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Design, Automation and Test in Europe Conference and Exhibition

作者： Haseeb Bokhari Haris Javaid Muhammad Shafique Jörg Henkel Sri Parameswaran School of Computer Science and Engineering University of New South Wales Sydney Australia Google Inc. USA Chair for Embedded Systems Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9783981537048

Network on Chip (NoC) has been envisioned as a scalable fabric for many core chips. However, NoCs can consume a considerable share of chip power. Moreover, diverse applications are executed in these multicore, where each application imposes a unique load on the NoC. To realise a NoC which is Energy and Delay efficient, we propose combining multiple VF optimized routers for each node (in traditional NoCs, we have only a single router per node) for efficient NoC for Dark Silicon chips. We present a generic NoC with routers designed for different VF levels, which are distributed across the chip. At runtime, depending on application profile, we combine these VF optimized routers to form constantly changing energy efficient NoC fabric. We call our architecture Malleable NoC. In this paper, we describe the architectural details of the proposed architecture and the runtime algorithms required to dynamically adapt the NoC resources. We show that for a variety of multi program benchmarks executing on Malleable NoC, Energy Delay product (EDP) can be reduced by up to 46% for widely differing workloads. We further show the effect on EDP savings for differing amounts of dark silicon area budget.

关键词： Switches Silicon Multicore processing System-on-chip Runtime Clocks

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Virtual Cloud Core: OpenCL Workload Sharing Framework for Connected Devices

Virtual Cloud Core: OpenCL Workload Sharing Framework for Co...

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2013 IEEE Seventh International Symposium on Service-Oriented System Engineering

作者： Chi-Sheng Shih Yu-Kai Chen Joen Chen Norman Chang Embedded Systems and Wireless Networking Laboratory Graduate Institute of Networking and Multimedia Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan Instiute for Information Industry Taipei Taiwan

ISBN: (纸本)9781467356596

Many of earlier attempts on mobile cloud integrations aim on increasing storage capacity of mobile devices, rather than its computation capacity. Traditional distributed computing model relies on static and reliable network connections to share workload among collaborative devices. The researches on pervasive and ubiquitous computing community enable collaborative computation to be conducted on connected computers. Similarly, it is limited to predefined computation services including predefined services and computation platforms. The computation resources in modern computation environment are heterogeneous and evolve over time. The aforementioned computation models do not make good use of such resources. We design and implement an extended OpenCL framework to federate the computation resources of mobile devices with cloud service so as to share its workload and shorten application response times. A virtual cloud core is attached to OpenCL context and can unify the computation between mobile devices and cloud services. The framework does not blindly off-load computation but take into account network capacity and load on connected servers so as to effectively share the load. It also allows a computation request to be conducted either on CPU on mobile device or GPU on connected servers. Our experiments show that the response time can be improved for up to 25 times with modern wireless network connection.

关键词： Kernel Mobile handsets Runtime Context Servers Graphics processing units Writing

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Verification of web service protocols by logic of knowledge

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Journal of Information and Computational science 2011年第6期8卷 921-932页

作者： Chen, Qingliang Su, Kaile Cao, Ying Liu, Chanjuan School of Electronics Engineering and Computer Science Peking University Beijing 100871 China Department of Computer Science Jinan University Guangzhou 510632 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 200000 China Institute for Integrated and Intelligent Systems Griffith University Brisbane Australia

Web services is a popular distributed systems technology and its effectiveness and efficiency rely badly on the underlying protocols. And web service protocols are designed in XML formats so the message structures within are quite different from the conventional ones. Therefore, the well-established formal verification techniques for conventional protocols, which have gained substantial achievements in practice, cannot be applied directly to them because of the inherently different syntax. In this paper, we propose a justification-oriented and automatic formal approach to verify, in the standard Dolev-Yao model, concerned security properties expressed as epistemic notions, i. e., logic of knowledge, for web service protocols, based on a fault-preserving mapping tool called SuD (SOAP under Dolev-Yao). Our approach is significant because, instead of finding flaws in finite number of protocol sessions, the specifications we are to verify can hold in arbitrary number of sessions. © 2011 Binary Information Press.

关键词： Web services

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A distributed Market-based Algorithm for the Multi-robot Assignment Problem

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Procedia computer science 2014年 32卷 1108-1114页

作者： Sahar Trigui Anis Koubaa Omar Cheikhrouhou Habib Youssef Hachemi Bennaceur Mohamed-Foued Sriti Yasir Javed University of Manouba ENSI Tunisia Cooperative Intelligent Networked Systems (COINS) Research Group Riyadh Saudi Arabia Prince Sultan University College of Computer and Information Sciences Riyadh Saudi Arabia CISTER/INESC-TEC ISEP Polytechnic Institute of Porto Porto Portugal University of Sfax Computer and Embedded Systems Lab Tunisia University of Sousse PRINCE Research Unit Tunisia Al Imam Mohammad Ibn Saud Islamic University Computer Science Department Saudi Arabia

Assigning tasks to a set of robots is a fundamental problem in robotics. It consists in finding the best task assignment to the available robots. In this paper, we present two distributed market-based algorithms to solve the assignment problem where n robots compete for n tasks with the assumption that each robot can be assigned to only one task. The first algorithm, called DMB, represents a distributed Market-Based algorithm where each robot bids for every task. The second algorithm is an extension of the DMB. It consists in swapping tasks between robots in order to improve the efficiency of the whole assignment. We conducted both real-world experimental testing, and MATLAB simulations to evaluate performance of the proposed algorithms and compare them against the centralized Hungarian algorithm in terms of traveled distance. Simulation results show that the IDMB algorithm produces near optimal solutions and in several cases it gives the optimal solution. In addition, we demonstrated the feasibility of our algorithms through real-world experimentation on robots.

关键词： Task Assignment Market-based Algorithms Multi-Robot Task Allocation ROS.

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